An improved IMM algorithm based on maneuvering-adaptive model set

Interacting multiple model (IMM) algorithm is one of the effective methods for maneuvering target tracking. The conventional IMM algorithm based on a fixed model set may lead to filter mismatch for a high maneuvering target. In this paper, an improved IMM algorithm is proposed by using maneuver-adaptive model set. Based on the maneuver detection and adaptively adjusting the process noise levels, it can effectively make a quick response when the maneuver occurs while it has a low root-mean-square error when the motion is relatively stable. Finally, some numerical results are provided to demonstrate the effectiveness of the proposed method.